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Modal Limit Cycle Control for Variable Stiffness Actuated Robots

Lakatos, Dominic and Garofalo, Gianluca and Petit, Florian and Ott, Christian and Albu-Schäffer, Alin (2013) Modal Limit Cycle Control for Variable Stiffness Actuated Robots. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4919-4926. International Conference on Robotics and Automation, 06.-10. Mai 2013, Karlsruhe.

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Abstract

This paper presents a control approach to stabilize limit cycle motions along a mechanical mode of variable stiffness actuated (VSA) robots. Thereby, first a PD controller with gravity and Coriolis/centrifugal compensation shapes a desired dynamics, which is decoupled in terms of modal coordinates. Then an asymptotically stable limit cycle is generated on the link side dynamics for a selected mode. Finally, the modal control approach first introduced for rigid robots is extended to the VSA case. This is done by a joint torque controller, which decouples the torque dynamics from the link side dynamics. Stability and convergence are proven for the dynamics resulting from each feedback control. Furthermore, the energy efficiency of the proposed approach is verified by simulation and experiments on the VSA robotic arm DLR Hand Arm System.

Item URL in elib:https://elib.dlr.de/82682/
Document Type:Conference or Workshop Item (Speech)
Title:Modal Limit Cycle Control for Variable Stiffness Actuated Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Petit, FlorianFlorian.Petit (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:May 2013
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 4919-4926
Series Name:Proceedings of IEEE International Conference on Robotics and Automation
Status:Published
Keywords:limit cycles, modal decoupling, variable stiffness actuation, nonlinear control systems
Event Title:International Conference on Robotics and Automation
Event Location:Karlsruhe
Event Type:international Conference
Event Dates:06.-10. Mai 2013
Organizer:IEEE/RAS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Lakatos, Dominic
Deposited On:11 Dec 2013 16:45
Last Modified:31 Jul 2019 19:41

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